JP5540511B2 - Seedling transplanter - Google Patents

Description

  The present invention relates to a seedling transplanting machine in which a work device such as a seedling planting device is connected to a work vehicle.

  The left and right rear wheels are equipped with side clutches and side brakes on the wheels arranged on the left and right in the direction of travel of the work vehicle, and the thrust of the rear wheels on the inside of the turn is suppressed in conjunction with the operation of steering the front wheels beyond the set angle. There is a riding-type work machine that performs a small turn by turning the body according to the difference in propulsive force of the wheels. This is to turn by turning on / off a side clutch or a side brake of a wheel corresponding to the operation of the steering handle.

  In Patent Document 1 below, there is a side clutch that intermittently interrupts transmission to the left and right rear wheels, and a mechanical automatic that cuts and operates the side clutch inside the turn when the front wheels are steered from a straight running position beyond a set angle. A steering mechanism is provided that automatically and intermittently controls the side clutch for the rear wheel inside the turn when the front wheel is steered more than the set angle from the straight running posture. Is disclosed.

Japanese Patent Laid-Open No. 2004-196000

  According to the configuration disclosed in Patent Document 1, when the automatic steering mechanism is activated and the side clutch for the rear wheel inside the turn is turned off, the actuator is automatically controlled to intermittently engage the side clutch. By repeatedly turning on and off, the rear wheel inside the turn is repeatedly switched between the idle state and the driven state. Therefore, it is possible to reduce the field damage caused by the rear wheels inside the turn while utilizing the features of the automatic steering mechanism that can make a small turn by simply steering the front wheel largely.

  However, in the above configuration, when the front wheel is steered from a straight running posture to a set angle or more, the energization control is intermittently performed for a predetermined period of time at a constant cycle, which corresponds to the steering angle of the front wheel, When the steering is steered beyond the set angle, it is a uniform control that automatically turns on and off. Patent Document 1 exemplifies several patterns regarding the steering angle of the front wheels and the side clutch disengagement time, but only discloses the relationship between the steering angle of the front wheels and the side clutch.

  Since the traveling state of the work vehicle also changes depending on the state of the field, it is still inadequate to reduce the roughing of the field by the rear wheels on the inside of the turn only by the on / off control of the side clutch corresponding to the steering angle of the front wheels.

  When working near a saddle such as a headland where the field is rough, for example, when performing intermittent on / off control of the rear wheel clutch while turning, either When a line drawing marker automatic switching device that automatically switches a drawing marker automatic switching device that switches between an operating state and a non-operating state is provided, and the marker automatic switching device is in a non-operating state, the field is rough There is a problem that the straightness of the airframe is likely to be lowered, and the airframe is steered suddenly by the operation of the steering handle, and the straightness is deteriorated or collides with a kite.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a seedling transplanter that prevents the field from being roughened by the rear wheels, and that improves the straightness of the aircraft and prevents the aircraft from colliding with the heel.

The above-mentioned problem of the present invention is solved by the following means.
That is, the invention described in claim 1 includes a traveling vehicle body (2), front wheels (10) and rear wheels (11) provided on the left and right in the forward direction of the traveling vehicle body (2), and the traveling vehicle body ( 2) A pilot seat (31) for steering the traveling vehicle body (2) provided on the steering wheel (31) and a steering handle (31) provided on the cockpit seat (31) for determining the steering direction of the traveling vehicle body (2) 34), a steering mechanism (86I, 180, 217, 221 etc.) that can change the direction of the left and right front wheels (10) in conjunction with the operation of the steering handle (34), and the traveling vehicle body (2) A seedling planting part (4) mounted on the rear side through an elevating link device (3) so as to be able to move up and down, and left and right line drawing markers (6) that draw a line at the field position so as to serve as an indicator of the travel route of the next process ) And a drawing marker (6) that is activated in conjunction with the turning of the traveling vehicle body (2). Automatic marker switching device (7) for automatically switching between left and right, automatic marker on / off device (8) for switching the marker automatic switching device (7) between an operating state and a non-operating state, and a steering handle ( 34) and an intermittent on / off control function (B1) for intermittently turning on / off the driving of the rear wheel (11) inside the steering in conjunction with the steering operation of the steering, When the automatic marker on / off device (8) is switched to the inactive state, the ratio of the on / off state of the cycle for turning on / off the rear wheel (11) inside the steering is set to the active state of the marker automatic on / off device. This is a seedling transplanting machine configured to be larger than the ratio of the on state of the cycle for turning on / off the steering inner rear wheel (11) set in advance when turning at the time of switching .

  The invention according to claim 2 includes a traveling vehicle body (2), front wheels (10) and rear wheels (11) provided on the left and right in the forward direction of the traveling vehicle body (2), and the traveling vehicle body (2). A pilot seat (31) for steering the traveling vehicle body (2), and a steering handle (34) provided at the pilot seat (31) for determining the steering direction of the traveling vehicle body (2). And a steering mechanism (86I, 180, 217, 221 etc.) that can change the direction of the left and right front wheels (10) in conjunction with the operation of the steering handle (34), and the rear side of the traveling vehicle body (2) A seedling planting part (4) mounted on the seedling planting part (4) through a lifting link device (3), a plurality of seedling planting devices (52) provided in the seedling planting part (4), A partial crack that cuts off the drive of the seedling planting device (52) of a part of the seedling planting device (52). (9) and an intermittent on / off control function (B1) for intermittently turning on / off driving of the rear wheel (11) inside the steering in conjunction with the steering operation of the steering handle (34). The on / off control function (B1) sets the ratio of the on / off state of the cycle for turning on / off the driving of the rear wheels (11) inside the steering when all the partial clutches (9) are in the transmission state. This is a seedling transplanting machine configured to be larger than the ratio of the on state of the cycle for turning on / off the steering inner rear wheel (11) when the transmission of (9) is in the on state.

The invention according to claim 3 includes a traveling vehicle body (2), front wheels (10) and rear wheels (11) provided on the left and right in the forward direction of the traveling vehicle body (2), and the traveling vehicle body (2). A pilot seat (31) for steering the traveling vehicle body (2), and a steering handle (34) provided at the pilot seat (31) for determining the steering direction of the traveling vehicle body (2). And a steering mechanism (86I, 180, 217, 221 etc.) that can change the direction of the left and right front wheels (10) in conjunction with the operation of the steering handle (34), and the rear side of the traveling vehicle body (2) A seedling planting part (4) mounted to be movable up and down via a lifting link device (3), and left and right line drawing markers (6) for drawing a line at a field position so as to serve as an indicator of a traveling route of the next process, The left and right drawing markers (6) that are in the active state in conjunction with the turning of the traveling vehicle body (2) The marker automatic switching device automatically switches to either (7), said marker automatic switching unit (7) marker automatic on-off device that switches the operating state and the inoperative state (8), M a mosquito automatic on-off device When (8) is switched to the non-actuated state, the assist force of the power steering (37) of the steering mechanism (86I, 180, 217, 221, etc.) is switched to the marker automatic on / off device (8) being activated. It is a seedling transplanter that is configured to be smaller.
Invention of claim 4, wherein, when the field of tilling machine depth is deep, claim from 請 Motomeko 1 turning angle is a large structure of the left and right front wheels with respect to the operation amount of the steering wheel (34) (10) 4. The seedling transplanter according to any one of 3 above.

  According to the first aspect of the present invention, when the automatic marker on / off device 8 is switched to the non-operating state at a position close to a ridge such as a headland where the field is rough, the traveling vehicle body 2 goes straight. In addition, it is possible to prevent the traveling vehicle body 2 from being steered suddenly by the operation of the steering handle 34, and on the contrary, the straight traveling performance is deteriorated and the vehicle is prevented from colliding with the kite.

  According to the second aspect of the present invention, when the operation is performed with the partial clutch 9 disengaged at a position close to a ridge such as a headland where the field is rough, the straightness of the traveling vehicle body 2 can be improved, Thus, it is possible to prevent the traveling vehicle body 2 from being steered abruptly by the operation of the steering handle 34, resulting in deterioration of straight-running performance and collision with the kite.

According to the third aspect of the present invention, when the automatic marker on / off device 8 is switched to the non-operating state at a position close to a ridge such as a headland where the field is rough, the traveling vehicle body 2 goes straight. In addition, it is possible to prevent the traveling vehicle body 2 from being steered suddenly by the operation of the steering handle 34, thereby preventing the straightness from deteriorating or colliding with the kite.
According to the invention described in claim 4, in addition to the effect of the invention described in any one of claims 1 to 3, the steerability can be maintained even when the cultivating depth of the field is deep. it can.

It is a side view of the seedling transplanting machine of the Example of this invention. It is a top view of the seedling transplanting machine of FIG. FIG. 3A is a clutch operating mechanism diagram (plan view) of a rear wheel interlocked with the steering operation of the seedling transplanter of FIG. 1, and FIG. 3B is a side view of FIG. is there. FIG. 4 is an enlarged view around the mission case of FIG. FIG. 3 (a) is a diagram showing a hydraulic continuously variable transmission. It is a perspective view of the change lever part of the seedling transplanting machine of FIG. It is a control block diagram of the seedling transplanter of FIG. It is a figure which shows the view of the rotation interlocking control of the seedling transplanting machine of FIG. It is a flowchart of the turning interlocking control of FIG. It is a flowchart of the rotation interlocking control of the seedling transplanter of FIG. 11 is a time chart of an on / off cycle of a side clutch of a wheel on the inner side of turning in the turn interlocking control of FIG. 10. The flowchart (FIG. 12A) for speeding up the lowering of the seedling planting device when the vehicle body is deeply submerged during the turning interlock control of the seedling transplanter in FIG. It is a graph (FIG.12 (b)) which shows the relationship of the value with respect to the cultivation board depth of N1 or setting value N2. It is a top view of the intermittent side clutch control adjustment dial part of the operation panel of the seedling transplanter of FIG. It is a top view of the planting start adjustment dial part of the operation panel of the seedling transplanter of FIG. FIG. 2 is a hydraulic circuit diagram for clutch operation of a rear wheel interlocked with the steering operation of the seedling transplanter of FIG. 1.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
1 and 2 are a side view and a plan view of a seedling transplanter equipped with a fertilizer application device as a powder and granule feeding device according to an embodiment of the present invention. The seedling transplanting machine 1 has a seedling planting portion 4 mounted on the rear side of the traveling vehicle body 2 through a lifting link device 3 so as to be movable up and down, and a main body portion of the fertilizer application device 5 is provided on the rear upper side of the traveling vehicle body 2. Yes.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and a pair of left and right rear wheels 11 and 11 as drive wheels, and a transmission case 12 is disposed at the front of the traveling vehicle body 2. Front wheel final cases 13 and 13 are provided on the left and right sides of the transmission case 12, and left and right front wheel axles projecting outward from respective front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 13 and 13. The left and right front wheels 10 and 10 are respectively attached to a front wheel axle) 14 (FIG. 4). Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and a rear wheel gear case 18, with a rear wheel rolling shaft provided horizontally in the front and rear sides at the rear left and right center of the main frame 15 as a fulcrum. The rear wheels 11 and 11 are attached to a rear wheel axle that is supported in a freely rolling manner and projects outwardly from the rear wheel gear cases 18 and 18.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission 21 and a hydraulic continuously variable transmission 23. Rotational power transmitted to the transmission case 12 determined by the transmission lever 16 or the like is shifted by a transmission in the case 12 and then separated into traveling power and external power to be extracted. A part of the traveling power is transmitted to the front wheel final cases 13 and 13 to drive the front wheels 10 and 10, and the rest is transmitted to the rear wheel gear cases 18 and 18 to drive the rear wheels 11 and 11. Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear part of the traveling vehicle body 22, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26, and the fertilizer application mechanism 5 by the fertilization transmission mechanism 28. Is transmitted to.

  The upper part of the engine 20 is covered with an engine cover 30, and a seat 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the seat 31, and a handle 34 for steering the front wheels 10 and 10 is provided above the front cover 32. The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The floor step 35 is partly grid-shaped (see FIG. 2), and mud on the shoe of the worker walking through the step 35 falls on the field. The rear part on the floor step 35 is a rear step 36 that also serves as a rear wheel fender.

  Further, on both the left and right sides of the front part of the traveling vehicle body 2, the spare seedling platforms 38, 38 on which the replenishment seedlings are placed rotate to a position projecting laterally from the traveling vehicle body 2 and a position accommodated inside. It is provided as possible. The elevating link device 3 has a parallel link configuration, and includes one upper link 40 and a pair of left and right lower links 41, 41. These links 40, 41, 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected on the rear end of the main frame 15, and a vertical link 43 is connected to the tip side thereof. ing. And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44. An elevating hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and a tip of a swing arm (not shown) integrally formed with the upper link 40, and the cylinder 46 is expanded and contracted by hydraulic pressure. The upper link 40 pivots up and down, and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting section 4 has an eight-row planting structure, a seedling planting transmission case 50 that also serves as a frame, a mat seedling, and a left and right reciprocating motion to supply seedlings to the seedling outlets 51a of each row one by one. When all the seedlings for one horizontal row are supplied to the seedling outlet 51a, ..., the seedling feed belt 51b, ..., the seedling stage 51 for transferring the seedling downward by the seedling feeding belt 51, ..., seedlings supplied to the seedling outlet 51a, ... are planted in the field. A seedling planting device 52 to be attached,..., A pair of left and right drawing markers 6 for drawing the traveling vehicle course in the next stroke to the topsoil surface are provided. In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and middle floats 57 and side floats 56 are provided on the left and right sides thereof. When the traveling vehicle body 2 is advanced with these floats (center float 55, side float 56, middle float 57) in contact with the muddy surface of the field, the floats 55 to 57 slide while leveling the muddy surface. A seedling is planted on the mark by the seedling planting device 52. Each float (center float 55, side float 56, middle float 57) is pivotally attached so that the front end side moves up and down according to the unevenness of the field topsoil surface, and the front part of the center float 55 is planted. Is detected by an angle-of-attack control sensor (not shown), and the hydraulic valve 161 (FIGS. 7 and 15) for controlling the lifting hydraulic cylinder 46 is switched according to the detection result to raise and lower the seedling planting unit 4. By doing so, the planting depth of the seedling is always kept constant.

  The fertilizer applicator 5 feeds the granular fertilizer stored in the fertilizer hopper 60 by a fixed amount by the feed portions 61,... And floats the fertilizer with fertilizer hoses 62,. ) Fertilization guides (not shown) attached to both the left and right sides of the fertilizer, and the groove guides (not shown) provided on the front side of the fertilization guides,... It falls into the fertilizer premises. Air generated by the blower 58 driven by the blower electric motor 53 is blown into the fertilizer hose 62 through the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hose 62 is forced by the wind pressure. It is designed to be transported.

  A rotor 27 (27a, 27b), which is an example of a leveling device, is attached to the seedling planting unit 4. In addition, the seedling mount 51 is configured to slide in the left-right direction using a support roller 65a of a rectangular support frame 65 having a full width in the left-right direction and the vertical direction that supports the entire seedling planting unit 4 as a rail.

  The rotor 27 is supported by the following support structure. That is, a beam member 66 supported at both ends 65b of the support frame 65 of the seedling stage 51 so that the upper end thereof is freely rotatable, a support arm 67 fixed to both ends of the beam member 66, and a rotation to the support arm 67. A freely attached rotor support frame 68 is provided, and a drive shaft 70 (70a, 70b) of the rotor 27 (side rotor 27a and center rotor 27b) is attached to the lower end of the rotor support frame 68. Further, the lower end portion of the rotor support frame 68 is connected to a connecting member 71 rotatably attached to the seedling planting transmission case 50.

The rotor 27b in front of the center float 55 is arranged in front of the rotors 27a in front of the side float 56 and the middle float 57 due to the arrangement position with the floats (center float 55, side float 56, middle float 57). ing. Therefore, the power to the drive shaft 70a of the rotor 27a is transmitted from the gear in the gear case 18 of the rear wheel 11, and the drive shafts 70a of both the rotors 27a and 27a are connected to the inner end of the vehicle body to the drive shaft 70b of the rotor 27b. Power is transmitted from each part.
The rotor 27b is suspended by a pair of link members 76 and 77 whose upper ends are supported by the beam member 66 via a spring 78.

A bent piece 82 is fixed to the lower end portion of the rotor vertical position adjusting lever 81, and the bent piece 82 is rotatably supported by the support frame 65. When the lever 81 is rotated in the left-right direction of the vehicle, the lever 81 is bent near the protrusion 66a fixedly supported by the beam member 66 that is rotatably supported by the side members 65b of the support frame 65. The piece 82 rotates up and down. Since the bent piece 82 is locked below the protrusion 66a, the protrusion 66a is rotated about the beam member 66 upward by the rotation of the lever 81 in the right direction of the traveling vehicle body 2. By the rotation of the projecting portion 66a, the end of the first link member 76 opposite to the connecting portion with the beam member 66 is also rotated upward about the beam member 66. By rotating the first link member 76 upward, the rotor 27b can be lifted upward via the second link member 77 and the spring 78. When the rotor 27b is moved upward, the rotor 27a is also simultaneously moved upward via the drive shaft 70b and the drive shaft 70a.
Since the rotor vertical position adjusting lever 81 is provided at substantially the center of the vehicle body 2, it is easy to balance left and right when the rotors 27a and 27b are moved up and down.

Further, when the seedling planting section 4 is lowered to the field, the cable 45 for returning the seedling planting section 4 to the horizontal position is connected to the pulling spring section including the link members 76 and 77 of the center rotor 27b and the spring 78 and the hydraulic piston 46. It was linked with.
Thus, by providing the cable 45 in addition to the swing mechanism by the spring 78 of the center rotor 27b, the center rotor 27b can be returned to the horizontal position every time the seedling planting part 4 is lowered from the raised position. The holding position of 27b can be stabilized.

  The rotational power of the engine 20 is transmitted to the hydraulic continuously variable transmission 23 via a belt transmission 21 and the like, and the output from the hydraulic continuously variable transmission 23 is transmitted to the transmission case 12 via a belt (not shown). It is transmitted to an input shaft (not shown).

As shown in FIG. 1, drawing markers 6 are provided on both sides of the traveling vehicle body 2. The drawing marker 6 is used to draw a mark on the field when the seedling transplanter 1 moves straight forward in the field and makes a U-turn at the edge of the field and then advances straight. The drawing marker 6 is operated by a marker motor 22 (FIG. 7).
In this embodiment, there is provided an automatic marker switching device 7 that automatically switches the drawing marker 6 that is in an operating state in conjunction with the turning of the traveling vehicle body 2 to either the left or right.
That is, when the steering wheel 34 turns the traveling vehicle body 2 and the turning angle of the steering wheel 34 becomes equal to or greater than a predetermined angle, the left and right rear wheel transmission shaft rotational speed sensors 205 start counting the total number of rotations of the left and right rear wheels 11, When the seedling planting section 4 is lowered, the cumulative rotation speeds of the left and right rear wheels 11 are compared, and the marker automatic switching device 7 including the marker motor 22 is operated so that the drawing marker 6 on the side with the larger cumulative rotation speed is operated next. The drawing marker 6 to be activated is set to either the left or right. When the turning angle of the handle 34 exceeds a predetermined angle, the turning is completed, the drawing marker 6 in the operating state before turning is deactivated, and after a predetermined time (about 2 seconds) after the planting clutch is engaged. ), The drawing marker 6 on the side set by the automatic marker switching device 7 is put into an operating state.

The seedling planting unit 4 is mounted on the main frame 15 of the traveling vehicle body 2 so as to be movable up and down by the lifting link device 3. The configuration for raising and lowering and the configuration of the seedling planting unit 4 will be described.
First, the upper end of a piston of a general hydraulic cylinder 46 (FIG. 1) whose base is rotatably provided on the traveling vehicle body 2 is connected to the lifting link device 3, and a hydraulic pump 49 (FIG. 4) provided on the traveling vehicle body 2. , FIG. 5), the hydraulic oil is supplied to and discharged from the hydraulic cylinder 46, the piston of the hydraulic cylinder 46 is extended and retracted, and the seedling planting portion 4 connected to the lifting link device 3 is moved up and down. Has been.

FIG. 3 (a) is a plan view (development view) showing a side clutch operating mechanism diagram of the rear wheel 11 interlocked with the steering operation of the riding type rice transplanter in FIG. 1, and FIG. The side view of 3 (a) is shown. 4 shows an enlarged view around the transmission case 12 of FIG. 3B, and FIG. 5 shows a case where the hydraulic continuously variable transmission 23 is shown in the plan view of FIG. ing.
A clutch interlocking left and right rod 180 for operating the side clutch operating arm 86I of the transmission shaft of the left and right rear wheels 11 is provided on both the left and right sides of the transmission case 12, and the clutch interlocking left and right rod 180 and the side clutch operating arm 86I are The left and right pull cylinders 217 are connected.

  The left and right side clutch operating arms 86I are provided with the left and right pull cylinders 217 (pulling the cylinder 217 during turning and disengaging the side clutch of the transmission shaft of the rear wheel 11 inside the turning). 4 (A) and 5 (B), after the handle 34 is rotated by a certain angle, one is continuously controlled to turn off or engage the side clutch (A) and the other is The control can be switched to the control (B) for connecting / disconnecting the side clutch at a constant cycle. Control (A) is for standard use and control (B) is for wet paddy field. When the handle 34 is operated, a torque generator (power steering) 37 (also shown in FIG. 15) operates the pull cylinder 217 of the rear wheel 11 inside the turning to disengage (or enter) the side clutch. The side clutch operation arm 86I, the left and right rods 180 for clutch interlock, the pull cylinder 217, the side clutch control electromagnetic valve 221 and the like are referred to as a steering mechanism.

  In the embodiment described above, an example in which the side clutch (not shown) of the rear wheel 11 inside the turn is turned off by operating the steering handle 34 at a predetermined angle or more is shown. It may be provided on the panel 33 (FIG. 2) so that the side clutch can be manually turned off. Alternatively, the side clutch may be manually disengaged with the side clutch pedal.

  Next, the control structure which raises the seedling planting part 4 automatically at the time of reverse drive is demonstrated. First, as shown in FIG. 6, there is provided a backlift switch 191 that is turned on when a contact piece 190 provided at the base of the change lever 90 contacts when the change lever (forward / reverse lever) 90 is operated to reverse speed. As shown in the control block diagram of FIG. 7, an electromagnetic solenoid for operating the electromagnetic hydraulic valve (elevating valve) 161 (FIGS. 7 and 15) by the seedling planting device raising means of the control device 163 (FIG. 7) is provided. The seedling planting unit 4 is controlled to be raised to the maximum position by the hydraulic cylinder 46 under control.

  As described above, when the change lever 90 is operated to the reverse speed, the seedling planting portion 4 is automatically raised to the maximum position, so that the traveling vehicle body 2 can be turned at the edge of the farm field. When the traveling vehicle body 2 is moved backward toward the heel, the seedling planting part 4 is automatically raised to the maximum position, so that the seedling planting part 4 can be prevented from colliding with the heel and being damaged. Good sex.

  Next, the control structure which raises the seedling planting part 4 automatically at the time of turning is demonstrated. When the automatic lift changeover switch 192 (FIGS. 7 and 14) is turned on when the steering handle 34 is rotated 200 degrees to the left or right, the electrohydraulic valve 161 is actuated by the seedling planting part raising means of the control device 163. An electromagnetic solenoid is controlled to raise the seedling planting part 4 to the maximum position by a hydraulic cylinder 46.

  In this way, when the steering handle 34 is rotated to the left or right as much as possible in order to turn the traveling vehicle body 2 at the heel, the seedling planting part 4 automatically rises to the maximum position. Occasionally, an operation for raising the seedling planting portion 4 is not required, and the traveling vehicle body can be turned efficiently and the workability is good.

  The operation panel 33 is provided with an automatic lift changeover switch 192 (FIGS. 7 and 14) for switching between a state where the seedling planting unit 4 is automatically raised and a state where it is not raised. When automatic, the seedling planting unit 4 automatically controls when the back lift switch 191 is turned on or the automatic lift changeover switch 192 is turned on and the steering handle 34 is rotated 200 degrees to the left or right as described above. It is automatically raised by the 163 seedling planting device raising means. If the automatic lift changeover switch 192 is turned off, the seedling planting part 4 is not automatically raised even if the steering wheel 34 is rotated 200 degrees to the left or right even if the backlift switch 191 is turned on.

  In this way, with one automatic lift changeover switch 192, even if the backlift switch 191 is turned on and the automatic lift changeover switch 192 is off, seedling planting is possible even if the steering handle 34 is rotated 200 degrees to the left or right. Since part 4 can be in a state where it is not automatically raised, it becomes a simpler configuration than a configuration in which switches for turning on and off each of the backlift and autolift are separately provided, and both states can be switched with one switch, Operation error is reduced and workability is good.

  If the automatic lift changeover switch 192 is turned off and the steering handle 34 is rotated 200 degrees to the left or right even if the backlift switch 191 is turned on, the seedling planting part 4 is not automatically raised. When the traveling vehicle body 2 is moved backward to a barn or the like, even if the change lever 90 is operated at a reverse speed, the seedling planting part 4 does not automatically rise. Therefore, the seedling planting part 4 can be moved backward while the seedling planting part 4 is lowered. It is possible to avoid a situation in which the seedling planting part 4 is hit against the upper part of the entrance of the door or another member in the storage room. In addition, when planting around a vine in a deformed field such as a fan shape or a gourd, a planting operation is performed while turning the steering handle 34 along a curved heel. At this time, an automatic lift changeover switch 192 is used. Is in the automatic position, if the steering handle 34 is rotated to the left or right by 200 degrees or more, the seedling planting part 4 is automatically raised and the planting operation cannot be performed, but the automatic lift changeover switch 192 is turned off. Then, even if the steering handle 34 is rotated to the left or right by 200 degrees or more, the seedling planting part 4 does not rise, so that the planting operation can be performed, and the seedling planting operation can be appropriately performed even in the modified farm field.

  Moreover, in the seedling transplanting machine 1 having the above-described configuration, the control device 163 of the present embodiment is based on detection of the rotational speed of the drive shaft (transmission shaft) (not shown) of the rear wheel 11 inside the turning, during turning. Rotation interlocking control that automatically performs various operations such as seedling planting is possible. This control mode is sometimes referred to as an automatic planting start mode. In particular, when the rear wheel 11 inside the turn is steered by a predetermined angle or more, the turn interlock control can be performed.

  It is possible to set a control mode (automatic planting start mode) in which the planting start position of the seedling after turning is automatically set based on the number of rotations of the rear wheel. Detected by an angle (cutting angle) sensor 193, and measured the distance traveled from the start of turning detected by the turning angle sensor 193 based on the detection value of the rotational speed sensor 205 of the wheel (the transmission shaft of the rear wheel 11 inside the turning). When the travel distance reaches a predetermined value, it is an automatic planting start mode in which seedling planting is automatically started without operating the seedling planting lever 19 (FIG. 2).

The concept of this control is shown in FIG.

  That is, when the steering wheel 34 is turned off and the side clutch of the rear wheel 11 inside the turn is disengaged, the rotational speed of the left and right drive shafts is detected, and the transmission shaft speed of the inner rear wheel 11 during the turn is the set value N1. If it exceeds, seedling planting part 4 will be lowered. Thereafter, the steering wheel 34 is turned off after the transmission shaft rotational speed of the rear wheel 11 is set to the set value N2 and the operation of the seedling planting tool 126 enters the “cut” state (= the seedling planting device 52 moves up). This is a mechanism for making the planting “enter” when the rotational speed n of the transmission shaft of the rear wheel 11 until the start becomes equal to or greater than the total value.

FIG. 9 shows a flow of the turning interlock control.
First, the rotational speeds of the transmission shafts of the left and right rear wheels 11 and 11 are detected by the transmission shaft rotational speed sensor 205, and the set value N1 (rear inside the turn from the start of turning to the 90 ° turn of the airframe (traveling vehicle body 2)). Wheel 11 drive shaft (transmission shaft) rotation signal setting value), N2 (the drive shaft rotation signal setting value from turning 90 ° of the machine body to the planting clutch “ON”), θ1 (handle turning setting angle during straight running operation) )) (Lower limit value (angle determined to turn left))), θ2 ((handle turning setting angle during straight operation) upper limit value (angle determined to turn right)).

  Next, in order to cope with differences in the field conditions such as the hardness and water depth of the field, the depth of the field (the field depth), etc., settings for adjusting the set values of the rotational speeds N1 and N2 and the handle cutting angles θ1 and θ2 The correction value n0 is set with the dials 206a to 208b (FIG. 7).

  Whether the seedling planting tool 126 of the seedling planting unit 4 is in a seedling planting state or not is operated by a finger lever 166 (the driving operation of the seedling planting unit 4 is turned on and the seedling planting unit 4 is moved up and down) When the planting “on” is switched to “planting” and the planting “126” is switched to “off”, the seedling planting tool 126 enters the “on” state and the planting is planted. The rotational speed n of the transmission shaft of the rear wheel 11 until the operation of the tool 126 becomes “cut” is detected by the transmission shaft rotational speed sensor 205 inside the turning, and the value (n) is stored. Next, when the turning angle (steering angle) θ of the steering handle 34 is detected by a steering angle sensor (potentiometer) 193 (FIG. 7) provided on the shaft of the steering handle 34, when the vehicle is not traveling straight (θ1 <θ <θ2) It detects whether the vehicle is turning in the left or right direction.

  When the left turn is in progress, the rotational speed of the transmission shaft of the left rear wheel 11 is detected, and when the rotational speed n1 is n1 ≧ N1 + n0, the aircraft has turned 90 degrees or more from the start of turning, so the seedling planting section 4 Lower. The headland is leveled as the seedling planting part 4 descends. Further, after turning the aircraft 90 degrees, the steering wheel 34 is advanced while loosening the turning degree, and when the rotational speed n2 of the left and right drive shafts of the left rear wheel 11 becomes n2 ≧ N2 + n + n0, the seedling planting tool 126 is operated. Start planting seedlings.

  In the seedling transplanting machine 1 of the present embodiment, only when the automatic planting start mode is set, the control device 163 automatically drives the rear wheel 11 inside the turn according to the rotation speed of the rear wheel 11 outside the turn. An intermittent on / off control function (B1) that intermittently transmits the side clutch (corresponding to the control (B) described above, referred to as intermittent side clutch control) can be activated.

By performing the intermittent side clutch control in this way, there is little impact due to braking, and a braking cycle corresponding to the turning angle of the rear wheel 11 can be obtained without being affected by engine rotation or vehicle speed. In the intermittent side clutch control for turning on / off the clutch of the rear wheel 11 on the inside of the turn, the slower the vehicle speed, the shorter the cycle for turning the clutch on / off, and the faster, the longer the cycle for turning the clutch on / off. Thus, it is possible to perform braking without causing the operator to feel uncomfortable when turning.
For example, at a vehicle speed of 0 m / s, the operating cycle (including on / off) of the side clutch (not shown: performed by the clutch operating arm 86I) of the transmission shaft of the rear wheel 11 inside the turn is 0.5 seconds, the vehicle speed is 0 The side clutch operating cycle (including on / off) is 1.0 second at 0.5 m / s, and the side clutch operating cycle (including on / off) is 1.5 seconds at a vehicle speed of 1.0 m / s. The side clutch operating cycle of the transmission shaft of the rear wheel 11 inside the turn is changed in a linear function according to the vehicle speed.

  When traveling at high speed, the impact is particularly great when the clutch of the transmission shaft of the rear wheel 11 is turned on or off. Therefore, as described above, in order to reduce the impact caused by the intermittent side clutch control, the ON / OFF cycle of the intermittent side clutch control (performed by the clutch operation arm 86I or the like) is made longer as the vehicle travels at a higher speed.

  Like the 8-row seedling transplanter 1 of this embodiment, the large traveling vehicle 2 needs to make a relatively large turn when turning. However, if the side clutch of the transmission shaft of the rear wheel 11 inside the turn is kept off during turning, the turn becomes too small. However, when the transmission shaft of the rear wheel 11 inside the turn is intermittently clutched as in this embodiment, the operator can perform braking without feeling uncomfortable at the time of turning, and an appropriate turning radius desired by the operator can be 8. A relatively large turn suitable for the seedling transplanting machine 1 is possible.

As shown in FIG. 13, the side clutch of the transmission shaft of the rear wheel 11 inside the turning is connected to an intermittent side clutch control (also called pumping clutch control) adjusting dial 210 provided on the operation panel 33. This is done until the rotational speed of the rear wheel 11 inside the turn reaches the (rotation angle).
The intermittent side clutch control adjustment dial 210 adjusts between 11 degrees and 27 degrees in the rear wheel rotation angle (= the rotation angle of the transmission shaft of the rear wheel 11). It should be noted that the intermittent side clutch control adjustment dial 210 is operated not from the rotation angle of the rear wheel 11 (the transmission shaft of the rear wheel 11) but from the operation time of a clutch (not shown) for operating the transmission shaft of the rear wheel 11, for example, 210 ms. The configuration is such that the time can be set up to 510 ms, and the side clutch (not shown) of the transmission shaft of the rear wheel 11 inside the turn is connected for the time set by the intermittent side clutch control adjustment dial 210. Also good.

  In addition, when driving at high speeds such as on the road, if intermittent side clutch control is selected, it is easy to make a large turn, so rather the handling is uncomfortable. Therefore, during high speed driving such as on the road, the intermittent side clutch No control is necessary. Therefore, when the traveling vehicle is traveling at a constant vehicle speed, for example, 1.0 m / s or more, intermittent side clutch control is not performed.

In the seedling transplanter 1 of the present embodiment, when turning by turning the steering handle 34, the rotation speed (b1; b1 <b1 <b1 <b1) of the rear wheel 11 inside the turn according to the rotation speed (a1) of the rear wheel 11 outside the turn. The intermittent side clutch control may be performed so as to determine a1).
FIG. 10 shows a specific example of this control flow. When turning by turning the steering handle 34, if the number of rotations of the rear wheel 11 outside the turn reaches a predetermined value (a0) after the turn is started (during this time) The side clutch of the turning “inside” side rear wheel 11 is “off”), the side clutch of the turning “inside” side rear wheel 11 is set to “on”, and then the turning “outside” side rear wheel 11 is set to a predetermined level. The side clutch of the rear wheel 11 on the turning “inside” side is set to “ON” until the rotational speed (a1) is reached.

The timing of turning on and off the side clutch of the rear wheel 11 inside the turn is automatically set by the control device 163. However, as shown in the time chart of FIG. The intermittent side clutch control adjustment dial is used to set the rotational speed (a0) of the rear outer wheel 11 corresponding to “OFF” and the rotational speed (a1) of the rear outer wheel 11 corresponding to “ON” of the inner clutch on the inner side. It can also be set manually by 210.
When the control shown in the flow of FIG. 10 is performed, the workability in the wet paddy is improved as compared with the prior art.

  Also, the control flow set value N1 (drive shaft (transmission shaft) rotation signal set value of the rear wheel 11 inside the turn from the start of turning until the turn of the body 90 °), N2 (planting from the turn of the body 90 ° shown in FIG. 9) The lower the drive shaft rotation signal set value until the clutch is “entered”, the lowering of the seedling planting device 52 at the time of seedling planting occurs, for example, when the rear wheel 11 on the inside of the turn is deeply submerged in a deep field or the like. This is effective when you want to perform

When the rear wheel 11 is deeply submerged in the field, the lifting link sensor 48 can detect the lifting / lowering degree of the upper link 40 and the lower link 41, thereby detecting the lifting / lowering degree of the seedling planting unit 4. The lift link sensor 48 is a sensor that detects the tilt angle of the upper link 40, and detects the tilt angle of the upper link 40 over the vertical rotation range of the upper link 40. The lift link sensor 48 measures the depth of the field (plowing depth).
The lifting link sensor 48 may be provided on the upper link 40 or the lower link 41. When provided on the lower link 41, the inclination angle of the lower link 41 is detected over the vertical rotation range of the lower link 41. The lift link sensor 48 may be provided on either the upper link 40 or the lower link 41, and the link tilt sensor 48 detects the link inclination angle of the lift link device 3.

FIG. 12B shows the drive shaft (transmission shaft) rotation signal set value N1 of the rear wheel 11 inside the turn from the turn start to the turn 90 ° of the body, or the turn inside from the turn 90 ° to the planting clutch “ON”. The relationship of the value with respect to the tilling depth calculated | required from the detected value of the raising / lowering link sensor 48 of the said drive shaft rotation signal setting value N2 is shown.
In a farm field where the cultivator is deep, the rear wheel 11 inside the turn with the side clutch cut is less likely to follow the ground and rotate, so the drive shaft (transmission shaft) of the rear wheel 11 inside the turn with respect to the actual turning stroke. The rotational speed is detected small. Therefore, there is a possibility that the timing for lowering or driving the seedling planting unit 4 may be delayed. Therefore, when the tiller is deep, the set values N1 and N2 are corrected to be small as shown in FIG. (When N1, N2 = X, for example, the rotational speed X is reduced to 1 / 3X), the seedling planting unit 4 is lowered or driven at an appropriate timing in the turning stroke as shown in FIG. The control shown in a) is performed.

Further, in the automatic planting control mode shown in FIG. 9, the steering wheel 34 operating angle θ1 (the lower limit value of the steering wheel cut setting angle during straight operation), θ2 (the steering wheel setting angle during the straight driving operation) upper limit The raising timing of the seedling planting part 4 according to the value) can be arbitrarily changed by the setting dials 206a and 206b of the θ1 and θ2.
With the above configuration, the operator can arbitrarily set the rising timing of the seedling planting unit 4 during turning control, so that the work can be performed according to his / her own pace.

Thus, even a seedling transplanter for multi-row planting such as eight-row planting can be turned in the field without fear of planting seedlings in a state of partially overlapping the previous planting strip.
In the case of a right turn, the same control is performed as in the case of a left turn.

  In this way, the method of detecting the rotational speed of the transmission shaft (drive shaft) of the rear wheel 11 with the side clutch disengaged is more susceptible to slipping and the like than the method of detecting the rotational speed of the rear wheel 11 to which power is transmitted. There are features that are difficult to receive. Further, since the rotational speed of the drive shaft that rotates faster than the rear wheel 11 is detected, the measurement accuracy can be easily increased. As a result, there is an effect that the planting start of the seedlings for each planting strip is almost constant (the headland width is constant).

Further, the start button (switch) 184 for turning control for performing various operations of the turning control shown in FIG. 9 may be used as a button for setting the start position for seedling planting.
In this way, forgetting to operate the button by combining the button for starting the seedling and setting the start position for seedling planting and the start button (switch) 184 for turning control for performing the series of turning control operations. Can be prevented.

The automatic planting start mode is set by a planting start adjustment dial 212 (FIGS. 7 and 14), and the traveling distance from the start of turning to the start of planting seedlings is set as a planting start adjustment dial 212 shown in FIG. Turn to set.
Although the travel distance can be appropriately selected according to the rotation angle of the planting start adjustment dial 212, a dial turning angle region outside the travel distance adjustment range of the dial 212 (and enters an automatic planting start mode). An auto lift function that can select a control mode for automatically raising the seedling planting device 4 at the start of turning of the vehicle in the previous dial turning angle region) and automatically raising the seedling planting device 4 when the vehicle reverses The back lift function that can select the control mode is also used.

  Then, when the dialing operation of the planting start adjustment dial 212 reaches the position (shown in FIG. 14) where the indication unit of the planting start adjustment dial 212 indicates “auto lift” at a position corresponding to the auto lift function. It is also possible to employ a control mode in which the intermittent side clutch control is started at the same time when the auto lift function is turned on and the auto lift control mode is started.

This is because the wheels 10, 11 are likely to slip during turning in the wet field, and the planting start position of the seedling is unlikely to be the planned position in the automatic planting start mode, so the intermittent side clutch control is selected. Intermittent side clutch control can be performed only in conjunction with the time.
Thus, it becomes possible to easily perform the turning traveling of the vehicle under the condition of easily slipping.

  Further, when the automatic planting start mode is not set, for example, when driving on the road, the intermittent side clutch control is not performed, and the vehicle turns while continuously disengaging the side clutch of the transmission shaft of the inner wheel (rear wheel 11). A normal turning mode (corresponding to the control (A) for continuously disengaging or engaging the side clutch described above, also referred to as a continuous on / off control function A1) may be employed.

  The following configuration can be employed as a countermeasure against noise during lowering PWM (Pulse Wide Modulation) control of the lift valve 161. That is, in the hydraulic circuit diagram shown in FIG. 15, the damper is configured to close the spool port when the spool strokes too much using the hydraulic oil that comes from the back of the spool of the check valve 162 on the lift cylinder 46 side of the lift valve 161. In order to obtain an effect, noise during the lowering PWM control of the lift valve 161 is reduced.

  In the current check valve 162, noise is generated when the spool hits the plug or the like at high speed during PWM control for lowering the lift valve 161. There is a problem that there may be a loud sound due to differences in the accuracy of individual parts, but this is a problem, but the noise is generated when the spool of the check valve 162 hits the plug that is the stopper. As a result, it was possible to prevent the generation of noise by closing the port before the spool of the check valve 162 hits the plug so as not to hit the plug due to the damper effect.

  According to the control device 163 of the seedling transplanting machine 1 according to the present embodiment, the side clutch operating arm 86I, the left and right rods 180 for clutch interlock, the pull cylinder 217, the side clutch control electromagnetic valve 221 and the like are interlocked with the steering mechanism. The on / off control function (A1) for turning on / off the driving of the rear wheel 11 on the inside of the turn and the rear side on the turn in accordance with the rotational speed of the rear wheel 11 on the outside of the turn detected by the transmission shaft rotational speed sensor 205. On / off control selection function for performing processing for selecting the intermittent on / off control function (B1) (which is the above-described intermittent side clutch control) for intermittently turning on / off the driving of the wheel 11 according to the depth of the field, for example. It is characterized by having.

  Furthermore, the riding type rice transplanter 1 of this embodiment includes left and right brake pedals 111 and 111 (FIGS. 3 and 4) as operating tools that can operate the left and right side clutches or side brakes (not shown) individually. Although it is provided, control for selecting the intermittent side clutch control (B1) is not performed by the control device 163 even when the left and right brake pedals 111 are connected.

  A brake pedal connection sensor 114 for detecting that the left and right brake pedals 111 and 111 are connected (or not connected) is provided in the vicinity of the brake pedals 111 and 111, and the intermittent side is determined by the detection value from the brake pedal connection sensor 114. The controller 163 selects whether or not the clutch control (B1) is activated.

  As shown in FIG. 3, the left and right brake pedals 111, 111 are held by a holding plate 113 at the upper end of the front end and supported by a connecting plate 115 for connecting the left and right brake pedals 111, 111 at the lower side of the front end. The lower surface of the connecting plate 115 is connected to the base portions 111a and 111a of the left and right brake pedals 111 and 111, and the tips of the brake pedal base portions 111a and 111a are connected to the first rod 119 via the arms 116 and 117. Yes. When the brake pedal 111 is depressed in the direction of arrow P, the arm 116 rotates in the direction of arrow A with the connecting shaft 118 of the brake pedal base 111a and the arm 116 as a fulcrum, and the first rod 119 moves upward along with the arm 117 (in the direction of arrow B). )

  On the other hand, when the brake pedal 111 is returned to the direction opposite to the arrow P direction, the arm 116 rotates in the direction opposite to the arrow A direction, and the first rod 119 moves downward together with the arm 117 (the direction opposite to the arrow B direction). ) By operating the brake pedal 111 in this way, the first rod 119 moves in the vertical direction.

  One of the left and right first rods 119 is connected to one of the right and left relay arms 134, and the relay arm 134 is further connected to the counter shaft 133. From the other left and right relay arms 134 connected to the counter shaft 133, the counter rod 137, the counter arm 139 and the like are connected to one of the left and right rods 180 for clutch engagement. Also, the other left and right first rods 119 are connected from the counter arm 139 to the other right and left rods 180 for clutch interlocking without passing through the relay arm 134, the counter shaft 133, the counter rod 137, and the like.

  These left and right rods 180 are respectively connected to the pull cylinder 217 and the side clutch operation arm 86I. When the first rod 119 moves up and down, the left and right rods 180 move in the front-rear direction, and the left and right side clutch operation arms 86I move to the left and right rods. It rotates in conjunction with the movement of 180.

When the brake pedal 111 is depressed in the arrow P direction, the first rod 119 moves upward (arrow B direction) as described above, the left and right rods 180 are pulled forward (arrow C direction), and the side clutch operation arm 86I is moved to the arrow. By rotating in the U direction, the side clutch of the transmission shaft of the rear wheel 11 inside the turn is disengaged.
On the other hand, the left and right side clutch operation arms 86I are provided with side clutch control electromagnetic valves 221 for controlling the left and right pull cylinders 217, and the side clutch control electromagnetic valves 221 are operated by output signals from the control device 163. Thus, the continuous on / off control function (A1) or the intermittent side clutch control (B1) is performed.

If the operator operates one or both brake pedals 111 while the left and right brake pedals 111 are connected, braking is performed. However, when the left and right brake pedals 111 and 111 are connected, it is a time when traveling on the road, etc., and the traveling speed is high and the vehicle may travel on a slope. The side clutch control (B1) is not operated.
Therefore, by adopting this configuration, it is possible to prevent the continuous on / off control function (A1) or the intermittent side clutch control (B1) from operating regardless of the operator's intention, thereby improving safety.

Further, sensors (potentiometers) 112 and 112 (FIG. 3) for detecting the movement of the left and right brake pedals 111 and 111 are provided, respectively, and at the time of manual turning manually set by the intermittent side clutch control (pumping clutch) adjustment dial 210. The operation pattern of the operator may be stored in the control device 163.
This is to store the operation pattern of the potentiometers 112 and 112 at the time of turning. After detecting that the turning has been started by the steering angle sensor 193, the turning by the steering angle sensor 193 has been completed. Until the detection, the detected values of the potentiometers 112 and 112 inside the turning corresponding to the accumulated rotational speed detection value of the transmission shaft rotational speed sensor 205 inside the turning inputted to the control device 163 are automatically stored. .

Then, according to the pattern stored in the control device 163 at the time of manual turning, in the next process, the intermittent side clutch (B1) (the driving of the rear wheel 11 inside the turning is intermittently turned on / off) is controlled. It is good also as a structure. There are various patterns depending on the preference of the operator. In short, this is an operation of stepping on or releasing the brake pedals 111, 111.
By automatically turning according to the pattern manually operated by the operator, it is comfortable for the operator, excellent in operability, and good in turning characteristics even in deep fields such as wet fields.

Further, in the configuration in which the operation pattern of the brake pedal 111 described above is stored when the aircraft is turning, and the side clutch or the side brake is automatically controlled based on this operation pattern during subsequent turns, the operation pattern stored in this control is stored. Switching means for switching between a state of performing and a state of not performing may be provided.
In order for the control device 163 to recognize the process of teaching the operation pattern, a manual switch (teaching button) (not shown) is arranged near the handle 34 as the switching means.

First, the control device 163 stores a process of turning by pressing the teaching button (an operation pattern for depressing or releasing the pedal).
The configuration is such that automatic turning is performed with the currently stored memory pattern until a new process is stored in the control device 163 again by the teaching button.

By adopting this configuration, it is possible to perform subsequent turning control based on the basic operation pattern stored in the control device 163, and the operability is good. For example, it is possible to prevent the operation pattern from being memorized during special turning in a place where the tiller is deep.
The operator's operation pattern can be updated and stored, so that finer control can be performed with good operability for the operator.

In the configuration in which the left and right side clutches are controlled based on the operation of the left and right brake pedals 111 and 111, when the left and right brake pedals 111 and 111 are largely operated to the side clutch disengagement side, at least intermittently Increase the disconnection time of the side clutch (intermittent side clutch) that is
In this way, by increasing the side clutch disengagement time, the rear wheel 11 is not driven, so that the side brake can be brought closer to the state without providing the side brake device, and the operator feels uncomfortable. Can be swiveled.

  By adopting this configuration, when the operator depresses the brake pedal 111 to the maximum operating position, the setting of the side clutch on / off time of the intermittent side clutch control (B1) is changed, and the constant cycle during automatic turning is changed. It is preferable to make the side clutch disengagement time longer because it is closer to the sense of the operator's turning operation.

The seedling transplanter 1 of the present embodiment includes a drawing marker 6 on both sides of the traveling vehicle body 2 as shown in FIG. The drawing marker 6 is used to draw a mark on the field when the seedling transplanter 1 moves straight forward in the field and makes a U-turn at the edge of the field and then advances straight. The drawing marker 6 is operated by a marker motor 22 (FIG. 7).
In this embodiment, there is provided an automatic marker switching device 7 that automatically switches the drawing marker 6 that is in an operating state in conjunction with the turning of the traveling vehicle body 2 to either the left or right.

  That is, when the steering wheel 34 turns the traveling vehicle body 2 and the turning angle of the steering wheel 34 becomes equal to or greater than a predetermined angle, the left and right rear wheel transmission shaft rotational speed sensors 205 start counting the total number of rotations of the left and right rear wheels 11, When the seedling planting section 4 is lowered, the cumulative rotation speeds of the left and right rear wheels 11 are compared, and the marker automatic switching device 7 including the marker motor 22 is operated so that the drawing marker 6 on the side with the larger cumulative rotation speed is operated next. The drawing marker 6 to be activated is set to either the left or right. When the turning angle of the handle 34 exceeds a predetermined angle, the turning is completed, the drawing marker 6 in the operating state before turning is deactivated, and after a predetermined time (about 2 seconds) after the planting clutch is engaged. ), The drawing marker 6 on the side set by the automatic marker switching device 7 is put into an operating state.

  The seedling transplanter 1 also includes an automatic marker on / off device 8 that switches the automatic marker switching device 7 between an activated state and an inoperative state. When the marker automatic on / off device 8 is switched to the non-operating state, the intermittent on / off control function (B1) sets the ratio of the on / off state of the cycle for turning on / off the driving of the rear wheel 11 inside the steering to the normal state. It is configured to be larger than the ratio of the on state of the cycle for turning on / off the driving of the rear wheel 11 inside the steering, which is set in advance during turning.

  With the above configuration, when the marker automatic on / off device 8 is switched to the non-operating state at a position close to a ridge such as a headland where the field is rough, the straightness of the traveling vehicle body 2 can be improved. In addition, it is possible to prevent the traveling vehicle body 2 from being steered suddenly by the operation of the steering handle 34, and on the contrary, the straight traveling performance is deteriorated or the vehicle collides with the kite.

  Further, the seedling planting unit 4 of the seedling transplanting machine 1 is provided with eight seedling planting devices 52, and two strips serving as part of the eight seedling planting devices 52 are planted. A partial clutch 9 is provided to cut off the driving of the seedling planting device 52 for each planting (the partial clutch 9 is a seedling for each planting strip by operating a seedling planting lever 19 corresponding to each planting strip) (This is the same as the configuration for engaging / disengaging the saddle clutch provided in the planting device 52.) When the partial clutch 9 is disengaged (detected by the saddle clutch lever sensor 29), the intermittent on / off control function. (B1) shows the ratio of the on state of the cycle for turning on / off the driving of the rear wheel 11 inside the steering to drive the rear wheel 11 inside the steering when the transmissions of all the partial clutches 9 are in the on state. The ratio is set to be larger than the ratio of the on state in the cycle of turning on / off.

  Thus, when the operation is performed with the partial clutch 9 disengaged at a position close to a ridge such as a headland where the field is rough, the straight traveling performance of the traveling vehicle body 2 can be improved, and the steering handle 34 can be operated. It is possible to prevent the traveling vehicle body 2 from being steered suddenly, resulting in poor straightness and collision with the kite.

Intermittent on / off control function (B1) when the marker automatic on / off device 8 is switched to the operating state, or when the partial clutch 9 is in the transmission state and the seedling planting device 52 for all planting conditions can be driven. Is the on / off state of the cycle for turning on / off the driving of the rear wheel 11 on the steering side, which is set in advance at the time of normal turning. The ratio is set back to the above.
With this configuration, when moving to the next farm field, it is possible to steer appropriately by work other than the position near the fence such as a headland where the farm field is rough.

  Furthermore, even if the seedling transplanting machine 1 of the present embodiment adopts a configuration in which the assist force of the power steering 37 (see FIG. 15) of the steering mechanism is reduced when the automatic marker on / off device 8 is switched to the non-operating state. Good. The assist force of the power steering 37 is performed by changing the amount of oil supplied to the power steering 37 by adjusting the spring force of the flow rate adjusting valve 39.

  When the marker automatic on / off device 8 is switched to the non-actuated state at a position close to a ridge such as a headland where the field is rough due to the above configuration, the straightness of the traveling vehicle body 2 can be improved. Further, it is possible to prevent the traveling vehicle body 2 from being steered suddenly by the operation of the steering handle 34, and on the contrary, the straight running performance is deteriorated or the vehicle collides with the kite.

When the seedling transplanter 1 is traveling at high speed (determined by the rotational speed of the rear wheel 11 outside the steering), the intermittent on / off control function (B1) turns on / off the driving of the rear wheel 11 inside the steering. It is good also as a structure which makes the ratio of the on state of the cycle to cut off smaller than the ratio of the on state of the cycle to turn on / off the driving of the rear wheel 11 inside the steering previously set at the time of normal turning.
In this case, there is an effect that the rapid steering of the traveling vehicle body 2 by turning on the side clutch is suppressed, the shaking of the traveling vehicle body 2 is suppressed, and the work environment of the passenger is made safe.

  Whether the depth of the cultivating field in the field is deep or not can be determined by the ascending / descending link sensor 48 when the float 55 is grounded, depending on the degree of ascending / descending of the upper link 40 and the lower link 41. When deep, the steerability can be kept high by increasing the turning angle of the front wheel 10 by the steering mechanism for the operation of the steering handle 34.

  In addition, when the depth of the cultivating field in the field is deep, the depth of the cultivating field indicates the ratio of the on / off cycle of the driving of the rear wheel 11 inside the steering instead of the adjustment by the front wheel turning angle. It is good also as a structure made small compared with the case where it is not deep.

  Further, the front wheel turning angle by the steering mechanism for the operation of the steering handle 34 is smaller than the region where the operation amount is large in the region where the handle operation amount is small, and larger than the region where the operation amount is small in the region where the operation amount is large. The straightness is improved when turning, and the turning property is improved when turning.

  INDUSTRIAL APPLICABILITY The present invention can be used for a riding-type working machine such as a seedling transplanter having a drawing marker with improved straight traveling performance at the heel.

DESCRIPTION OF SYMBOLS 1 Seedling transplanter 2 Traveling vehicle body 3 Elevating / lowering link device 4 Seedling planting part 5 Powder and granular material feeding device 6 Drawing marker 7 Marker automatic switching device 8 Marker automatic on / off device 9 Partial clutch 10 Front wheel 11 Rear wheel 12 Case 14 Front wheel axle 15 Main frame 18 Rear wheel gear case 19 Seedling planting lever 20 Engine 21 Belt transmission 22 Marker motor 23 Hydraulic continuously variable transmission 25 Planting clutch case 26 Planting transmission shaft 27 (27a, 27b) Rotor 28 Fertilization Transmission mechanism 29 畦 Clutch lever sensor 30 Engine cover 31 Seat 32 Front cover 33 Operation panel 34 Handle 35 Floor step 36 Rear step 37 Torque generator 38 Pre-seed seedling stage 39 Flow rate adjusting valve 40 Upper link 41 Lower link 42 Link base frame 43 Vertical link 44 Connecting shaft 45 Cable 46 Elevating hydraulic cylinder 47 Hydraulic valve 48 Elevating link sensor 49 Hydraulic pump 50 Seedling planting transmission case 51 Seedling stand 51a Seedling outlet 51b Seedling feeding belt 52 Seedling planting device 53 Electric for blower Motor 55 Center float 56 Side float 57 Middle float 58 Blower 59 Air chamber 60 Fertilizer hopper 61 Feeding part 62 Fertilizer hose 65 Support frame body 65a Support roller 65b Both side members 66 Beam member 66a Projection part 67 Support arm 68 Rotor support frame 70 Drive Shaft 71 Connecting member 76, 77 Link member 78 Spring 81 Rotor vertical position adjustment lever 82 Bending piece 86I Left and right clutch operation arm 90 Change lever (forward / reverse lever)
111 Brake pedal 111a Brake pedal base 112 Brake pedal sensor (potentiometer)
113 holding plate 114 brake pedal connection sensor 115 connection plate 116,117 arm 118 shaft 119 first rod 126 seedling planting tool 133 counter shaft 134 relay arm 137 counter rod 139 counter arm 161 lift valve 162 check valve 163 control device 166 finger lever 180 Left and right rod 184 Rotation control start button (switch)
190 Contact piece 191 Back lift switch 192 Automatic lift changeover switch 193 Steering angle sensor 205 Transmission shaft speed sensor 206a-208b Setting dial 210 Intermittent side clutch control adjustment dial 212 Planting start adjustment dial 217 Pull cylinder 221 Clutch control electromagnetic valve A1 Continuous on / off control function B1 Intermittent on / off control function (intermittent side clutch control)

Claims (4)

Traveling vehicle body (2),
Front wheels (10) and rear wheels (11) provided on the left and right in the forward direction of the traveling vehicle body (2);
A pilot seat (31) provided on the traveling vehicle body (2) for operating the traveling vehicle body (2);
A steering handle (34) provided in the cockpit (31) for determining a steering direction of the traveling vehicle body (2);
A steering mechanism (86I, 180, 217, 221, etc.) capable of changing the direction of the left and right front wheels (10) in conjunction with the operation of the steering handle (34);
A seedling planting part (4) mounted on the rear side of the traveling vehicle body (2) so as to be movable up and down via a lifting link device (3);
Left and right line-drawing markers (6) for drawing a line at the field position so as to serve as an indicator of the travel route of the next process;
A marker automatic switching device (7) that automatically switches the drawing marker (6), which is in an operating state in conjunction with the turning of the traveling vehicle body (2), to either the left or right;
An automatic marker on / off device (8) for switching the automatic marker switching device (7) between an operating state and a non-operating state;
An intermittent on / off control function (B1) for intermittently turning on / off the driving of the rear wheel (11) inside the steering in conjunction with the steering operation of the steering handle (34);
The intermittent on / off control function (B1) is the ratio of the on / off state of the cycle for turning on / off the driving of the rear wheel (11) inside the steering when the automatic marker on / off device (8) is switched to the non-operating state. Is set to be larger than the ratio of the on / off state of the cycle for turning on / off the steering inner rear wheel (11) set in advance during turning when the automatic marker on / off device is switched to the operating state . A seedling transplanter characterized by that. Traveling vehicle body (2),
Front wheels (10) and rear wheels (11) provided on the left and right in the forward direction of the traveling vehicle body (2);
A pilot seat (31) provided on the traveling vehicle body (2) for operating the traveling vehicle body (2);
A steering handle (34) provided in the cockpit (31) for determining a steering direction of the traveling vehicle body (2);
A steering mechanism (86I, 180, 217, 221, etc.) capable of changing the direction of the left and right front wheels (10) in conjunction with the operation of the steering handle (34);
A seedling planting part (4) mounted on the rear side of the traveling vehicle body (2) so as to be movable up and down via a lifting link device (3);
A plurality of seedling planting devices (52) provided in the seedling planting section (4);
The steering operation of the partial clutch (9) and the steering handle (34) for cutting off the driving of the seedling planting device (52) of a part of the seedling planting device (52) of the multiple strips An intermittent on / off control function (B1) for intermittently turning on / off the driving of the rear wheel (11) inside the steering,
The intermittent on / off control function (B1) sets the ratio of the on / off state of the cycle for turning on / off the driving of the rear wheel (11) inside the steering when the transmission of the partial clutch (9) is in the off state. characterized in that a structure made larger than the proportion of the incoming state of the period of on / off the driving of the steering inner rear wheel (11) when on the transmission part clutch (9) of the Irijo state Seedling transplanter. Traveling vehicle body (2),
Front wheels (10) and rear wheels (11) provided on the left and right in the forward direction of the traveling vehicle body (2);
A pilot seat (31) provided on the traveling vehicle body (2) for operating the traveling vehicle body (2);
A steering handle (34) provided in the cockpit (31) for determining a steering direction of the traveling vehicle body (2);
A steering mechanism (86I, 180, 217, 221, etc.) capable of changing the direction of the left and right front wheels (10) in conjunction with the operation of the steering handle (34);
A seedling planting part (4) mounted on the rear side of the traveling vehicle body (2) so as to be movable up and down via a lifting link device (3);
Left and right line-drawing markers (6) for drawing a line at the field position so as to serve as an indicator of the travel route of the next process;
A marker automatic switching device (7) that automatically switches the drawing marker (6), which is in an operating state in conjunction with the turning of the traveling vehicle body (2), to either the left or right;
An automatic marker on / off device (8) for switching the automatic marker switching device (7) between an operating state and a non-operating state;
When switching M a mosquito automatic on-off device (8) inoperative, the steering mechanism (86I, etc. 180,217,221) power marker automatic on-off device an assist force for steering (37) of the (8) A seedling transplanter characterized in that it is configured to be smaller than when it is switched to an operating state .   4. The structure according to claim 1, wherein when the cultivating depth of the farm field is deep, the cutting angle of the left and right front wheels (10) with respect to the operation amount of the steering handle (34) is increased. The seedling transplanter according to item 1.

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